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Mobile robot using ultrasonic sensors: study of a degraded mode
P. Blazevic, S. Delaplace, J. G. Fontaine, J. Rabit
Journal:

Robotica / Volume 9 / Issue 4 / December 1991

Published online by Cambridge University Press:

09 March 2009, pp. 365-370
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In this paper, we develop a method for mobile robot control using ultrasonic sensors to determine displacement constraints between two parallel planes. Robot control has been simulated for this situation. Results obtained by simulation and experimentation are presented. A degraded mode which considers the use of one valid ultrasonic sensor is studied. In this case, a new model is developed and new results are analyzed.